private void InitAxises()
{
if (!VsmdController.GetVsmdController().IsInitialized())
{
StatusBar.DisplayMessage(MessageType.Error, "设备未连接！");
DisableAllControls();
return;
}
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
txtCidX.Text = ax.Cid.ToString();
txtPosX.Text = ax.curPos.ToString();
txtSpeedX.Text = ax.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdX.Text = ax.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
txtCidY.Text = ay.Cid.ToString();
txtPosY.Text = ay.curPos.ToString();
txtSpeedY.Text = ay.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdY.Text = ay.GetAttributeValue(VsmdAttribute.Zsd).ToString();
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
txtCidZ.Text = az.Cid.ToString();
txtPosZ.Text = az.curPos.ToString();
txtSpeedZ.Text = az.GetAttributeValue(VsmdAttribute.Spd).ToString();
txtZsdZ.Text = az.GetAttributeValue(VsmdAttribute.Zsd).ToString();
}
private async void GoHome()
{
VsmdInfoSync ax = VsmdController.GetVsmdController().GetAxis(VsmdAxis.X);
var speedX = ax.GetAttributeValue(VsmdAttribute.Spd);
var zsdX = ax.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync ay = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Y);
var speedY = ay.GetAttributeValue(VsmdAttribute.Spd);
var zsdY = ay.GetAttributeValue(VsmdAttribute.Zsd);
VsmdInfoSync az = VsmdController.GetVsmdController().GetAxis(VsmdAxis.Z);
var speedZ = az.GetAttributeValue(VsmdAttribute.Spd);
var zsdZ = az.GetAttributeValue(VsmdAttribute.Zsd);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Z, zsdZ);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Z);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.X, zsdX);
VsmdController.GetVsmdController().ZeroStart(VsmdAxis.X);
await VsmdController.GetVsmdController().SetZsd(VsmdAxis.Y, zsdY);
await VsmdController.GetVsmdController().ZeroStart(VsmdAxis.Y);
//set positive limit register
ax.cfgPsr(3);
ay.cfgPsr(3);
az.cfgPsr(3);
}